Linear parallel clamping and self-adaption robot finger device with terminal accurately compensated

Abstract

The invention provides a linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated and belongs to the technical field of robot hands. The linear parallelclamping and self-adaption robot finger device comprises a base, two finger segments, two joint shafts, a motor, a plurality of connecting rods, an intermediate transmission mechanism, a T-shaped sliding groove part, gears, racks, a limiting block, a spring part and the like. According to the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated, the linear parallel clamping and self-adaption grabbing functions of robot fingers are achieved; when a near joint rotates, a second finger segment surface cover parallelly moves along a straight linerelative to the base; after the first finger segment makes contact with an object, the second finger segment surface cover is then rotated to make contact with the object; the purpose of enveloping objects in different shapes and sizes in a self-adaption mode is achieved; the grabbing scope is large, and grabbing is stable and reliable; the two joints are driven by one motor; and the linear parallel clamping and self-adaption robot finger device with the terminal accurately compensated is simple in structure, low in cost and suitable for robot hands.

Description

technical field [0001] The invention belongs to the technical field of robot hands, and in particular relates to a structural design of an end-precisely compensated straight-line flat-clamp self-adaptive robot finger device. Background technique [0002] The invention of robots has brought convenience to human life. Among the components of a robot, the robot hand is one of the most dexterous components. Various robotic hands have been developed to assist robots in various tasks. The types of these robots include industrial grippers, dexterous hands, special hands, etc. It has always been a common goal of scientists to develop robotic hands that can grasp a variety of objects and complete various tasks. [0003] The research on the robot hand began to focus on the dexterous hand. Each finger joint is equipped with a motor, which has a high degree of anthropomorphism during the movement process and can complete the grasping of the surface of the object. However, the cost o...

AI Technical Summary

Problems solved by technology

The disadvantage of the underactuated mechanical finger device is that the finger only has a grasping mode adapted to the surface of the object, and does not have a parallel clamping mode

Its shortcoming is that the device can only realize the function of linear parallel clamping, and cannot realize the function of adaptive envelope grabbing objects

Its shortcoming is that the device can only realize the arc parallel clamping function, but cannot realize the straight line parallel clamping function——the finger ends of the device will change in the height direction during the flat clamp grasping stage, which leads to the use of this device. When the device clamps objects of different sizes on the workbench, it is impossible to use the same palm position to perform multiple grasps. The robot arm must cooperate with the movement to adjust the palm position of the robot hand, which increases the difficulty of programming and is not conducive to High-speed grasping and operation affect the flexibility of the robot production line

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